Golf Ball Tracking System

ABSTRACT

Provided is a smart golf ball comprising: an inner electronics core, the inner electronics core comprising: a microcontroller with memory and at least one processor; a power supply in communication with the microcontroller; and an RF transmitter/receiver in communication with the microcontroller; an outer core surrounding the inner electronics core; and a skin layer covering the outer core. Also provided is a data processing system configured for golf ball tracking, comprising: a host computing system; a display in communication with the host computing system; one or more smart golf balls, each comprising a Real Time Location System (RTLS) Ultra-wideband (UWB) transmitter/receiver and a corresponding ID, in communication with the host computing system; three or more beacons, each comprising an RF transmitter/receiver, in communication with the host computing system; and a golf ball tracking module.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No. 62/835,058 filed Apr. 17, 2019, the entirety of which is incorporated herein by reference.

BACKGROUND OF THE INVENTION Field of the Invention

The present invention relates to golf ball tracking systems and more particularly to golf ball tracking systems with radio frequency (RF) technology.

Description of the Related Art

Golf ball tracking systems allow golfers to track their shots in order to improve their performance. However, current golf ball tracking systems are lacking in many aspects in that the tracking systems do not actually track the golf ball accurately through space from impact to final resting position, nor do they provide real-time spin and position information, or are too costly for widespread commercial use. Furthermore, many of the golf ball tracking systems cannot be used for both driving range and on-course applications.

Currently, metro recreational gaming golf range businesses are currently dominated by TopGolf®. TopGolf's solution is characterized by multi-level tee boxes pointing at a set of target areas, where the user hits a golf ball at down range targets selected by a gaming controller. Their system determines whether the final position of the ball is, or is not, near the intended target. TopGolf's golf gaming system utilizes passive RFID tag embedded into a low-cost golf ball. Each ball has a unique ID and at the time of use is associated with a player. A tee box reader indicates the ball left the tee box and readers near the targets indicates whether ball landed near the intended target. The technology does not track the golf ball.

TrackMan® is a Danish technology company that develops, manufactures, and sells 3D ball flight measurement equipment used in golf. Today, TrackMan is a world leader in ball flight and club data measurement and the company is considered to have set the industry standards for accuracy in golf, enhanced ball flight measurements and raised the general understanding of the golf swing. Trackman's ability to gather data about the swing and club enables measurements of loft, club path, club speed and path. However, TrackMan falls short when measuring actual position after the ball lands, and providing real-time spin and positional data while in flight. Further, TrackMan is very expensive per ball tracked and is not suited to ranges where many balls are in the air simultaneously as Trackman requires an expensive radar for each ball.

A few years ago, OnCore® developed a golf ball with a hollow metallic core. Over the past few years, OnCore has been developing a new core with embedded electronics to provide real time ball flight information to Golfers. OnCore claims that the electronics package, when paired with protection material, can withstand the G-Forces that a well hit golf ball experiences. However, OnCore's ball is not expected to be USGA compliant. As well, OnCore reportedly uses GPS to locate the ball in 3D Space and Bluetooth to communicate with mobile devices to present the shot information. It appears that OnCore is focused on the on-course application rather than a driving range type of application.

However, OnCore's claims regarding the accuracy of their ball position is suspect as X, Y, Z standard GPS processing systems do not perform to 1 foot accuracy levels as the source of altitude information in not very accurate. Further, OnCore claims down range drives of over 300 yards will be measured by Bluetooth. However, 300 yards seems too large a range for standard Bluetooth and likely requires low powered Bluetooth 5. However, OnCore's accuracy claims and equipment requirements may be the reasons for OnCore's difficulties in production of their design.

Other approaches use image processing to estimate ball positioning. With respect to image processing, although video sensor resolutions and frame rates are growing rapidly, they are currently still limiting factors for this application. The lack of higher resolution means the camera lens field of view is small and hence, the number of cameras needed is large: it might just be viable for the Driving Range but isn't acceptable for the Golf Course application. Higher resolution will expand camera lens field of view, resulting in fewer cameras and poles being required. Higher frame rates and increased imaging efficiency would reduce smearing and improve image clarity resulting in better azimuth/elevation angle measurement and hence, position accuracy. Technology advances will surely resolve some of the weaknesses of the video camera and image processing solution, but the limitations of adverse weather and imaging conditions will remain along with the challenge of finding a method of measuring ball spin without embedding sensors and electronics in the ball. Overall, this approach does not appear viable now and does not appear to have a path to resolving the issues in the future.

Another approach may be to use Light Detection and Ranging (LIDAR). This may be problematic, due principally to the difficulty of reliably pulling the reflected signal of a flying golf ball from a complex background and the unacceptable deterioration of tracking accuracy with increasing downrange distance, commercially available LIDAR systems are not, at this time, assessed as suitable as a viable and cost effective golf ball tracking system.

Therefore, there is no currently viable and cost effective golf ball tracking system for both driving range and on-course applications, which provides real-time measurements of a golf ball from the moment of impact with a golf club throughout the entirety of its travels.

BRIEF SUMMARY OF THE INVENTION

Embodiments of the present invention address deficiencies of the art in respect to golf ball tracking systems and provide a novel and non-obvious method, system and computer program product for golf ball tracking. In an embodiment of the invention, a method for golf ball tracking systems include a smart golf ball comprising an inner electronics core, the inner electronics core comprising: a microcontroller with memory and at least one processor; a power supply in communication with the microcontroller; and an RF transmitter/receiver in communication with the microcontroller; an outer core surrounding the inner electronics core; and, a skin layer covering the outer core.

In one aspect of the embodiment, a golf ball may be configured with active circuitry embedded therein, the circuitry configured to provide real-time measurements of a golf ball.

In another embodiment of the invention, a data processing system may be configured for golf ball tracking.

An advantage provided by the present disclosure is providing a protectively encased housing Ultra Wideband communication and sufficient computing power that can be easily attached or embedded into an object to be tracked, such as a golf ball.

Another advantage provided by the present disclosure is the ability to dynamically balance the components within the ballistic marble in order to ensure smooth flight of the ball.

Another advantage provided by the present disclosure is to miniaturize sufficient circuitry so as to fit within the ballistic marble for certain applications, including the golf ball application.

Another advantage of the present disclosure is hardening the ballistic marble to withstand significant force, such as the impact from a golf club striking a golf ball.

Additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The aspects of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. The embodiments illustrated herein are presently preferred, it being understood, however, that the invention is not limited to the precise arrangements and instrumentalities shown, wherein:

FIG. 1 is a pictorial illustration of a process for golf ball tracking in accordance with an embodiment of this invention;

FIG. 2 is a schematic illustration of a data processing system adapted for golf ball tracking in accordance with an embodiment of this invention;

FIG. 3 is a flow chart illustrating a process for golf ball tracking in accordance with an embodiment of this invention;

FIG. 4 is a side cutaway view of a golf ball in accordance with an embodiment of this invention;

FIG. 5 is a side cutaway view of a golf ball in accordance with an embodiment of this invention;

FIG. 6 is a schematic illustration of an electronics system of a golf ball in accordance with an embodiment of this invention;

FIG. 7A is a side cutaway view of an electronics system of a golf ball in accordance with an embodiment of this invention;

FIG. 7B is a side cutaway view of an electronics system of a golf ball in accordance with an embodiment of this invention;

FIG. 8A is a schematic illustration of a beacon of a driving range in accordance with an embodiment of this invention;

FIG. 8B is a schematic illustration of a beacon of a golf course in accordance with an embodiment of this invention;

FIG. 9A is a schematic illustration of a beacon layout of a driving range in accordance with an embodiment of this invention; and

FIG. 9B is a schematic illustration of a beacon layout of a golf course in accordance with an embodiment of this invention.

DETAILED DESCRIPTION OF THE INVENTION

Embodiments of the invention provide for a golf ball tracking system that is capable of tracking multiple balls simultaneously using Radio Frequency (RF) technology of an Ultra-Wide Band (UWB) transmitter/receiver embedded in the center of a smart golf ball that would ping, in all directions, to external receivers that could then use Time Difference of Arrival (TDOA) techniques to locate the 3D position of the smart golf ball throughout its flight.

In further illustration, FIG. 1 pictorially shows a process for golf ball tracking. As can be seen, smart golf balls are equipped with RF transmitters, such as UWB transmitters. Beacons are set up throughout the golf course or driving range as RF receivers. After the smart golf ball is hit, TDOA techniques are then utilized to locate the 3D position of the smart golf ball throughout its flight. Both ends of the UWB TDOA system (ball electronics and beacon electronics) may operate in both receive and transmit modes. The 3D position of the ball is then sent on-screen at the driving range or to a user's smart device, so that the user can track the 3D position of the ball. As well, the smart golf may also include a 6-Axis Gyro/Accelerometer to track the spin of the smart ball, which is also displayed on-screen or on the user's smart device.

The process shown in FIG. 1 may be implemented in a computer data processing system. In further illustration, FIG. 2 schematically shows a data processing systems adapted for golf ball tracking. The system communicates over a network 210 with a server 220 and the system includes at least one processor 230 and memory 240 and fixed storage 250 disposed within the system. The network 210 may be a cloud network or other network. The system includes a Tee Box 260, which receives the smart golf balls 270. The Tee Box 260, which communicates with a User Game and Data Service 280, which may include program instructions to begin the shot readiness process, an on-screen display for shot visual feedback, and user controls to select different programs, such as different games to play and analysis of the user's shot.

The Tee box 260 displays games, results and feedback to the end user. The Tee Box 260 allows the user to initiate ball readiness procedure signal, which is communicated to the ball allocation and dispensing service 290. The wake-up signal is sent to the smart golf ball 270 which then acknowledges the signal with the smart golf ball's corresponding ID. The smart golf ball is then dispensed to the user in the Tee Box 260 through the ball allocation and dispensing service 290. The ball is then in play in the user game and data service 280 and 3D tracking is started.

The smart golf ball's position is then tracked by Real-Time Location Service 310, which receives the ID tag of the golf ball as it is pinged through the communication beacons 320. TDOA is then used to determine the 3D position of the ball in the Real-Time Location Service 310. The 3D location of the ball is then sent from the real-time location service 310 to the user game and data service 280. Furthermore, the smart golf ball may communicate other data, such as the ball's 6-axis data and health data to be displayed on the user game and data service 280. The data may be communicated utilizing the communication beacons 320 as a pass through. Even further, the beacons 320 may communicate weather data.

All of the data from the smart golf balls 270 and communications beacons 320 may be communicated to the sensor data distribution service 340 to the user game and data service 280, which is then displayed on a user's smart device 350 or on-screen in the Tee Box 260. As well, the user game and data service 280 communicates with server 220 which analyzes the data from the smart golf ball and beacons and calculates ball and game data analytics results, which is also sent through the user game and data service 280 to the user's smart device or the tee box.

The user game and data service 280 and sensor data distribution service 340 may also communicate with a golfer training service 360. Golfer training service 360 may use the sensors and ball track and shot parameters to provide feedback, so that the user can receive real-time recommendations to improve their performance. The golfer training service may be displayed on the user's smart device or in the tee box 260. The golfer training service may use the golfer's historical performance and data associated therewith to provide the golfer or other users with analysis including comparisons, trends, and improvements in the golfer's shot making

In even yet further illustration of the operation of the user game and data service module 280, FIG. 3 is a flow chart illustrating a process for module recommendation. Beginning in block 410, a signal is sent to initiate the ball readiness procedure. In block 420, a wake-up signal is sent to the smart golf ball and acknowledgement of the signal with the ball ID is sent back. In block 430, the ball is in play and the 3D tracking of the ball's position is initiated. In block 440, the ball transmits a timing ping and the ID tag of the smart golf ball. In block 450, the beacons precisely measure the TOA of the timing ping from the ball and associate the information with the ball ID. In block 460, the 3D position of the ball at time t is calculated and displayed. In block 470, the data from the balls internal sensors to calculate spin and health of the ball is communicated. In block 480, the beacons communicate the weather data, such as wind speed, etc. In block 490, 6-axis data is sorted by ID and time. In block 500, the result of all of the data communicated is analyzed. In block 510, the analysis of the results is then displayed on a user's smart device or on the display in the tee box. In block 520, the results are then analyzed to provide recommendations to the user to improve their game.

In yet a further embodiment, wind speed and direction may be derived based on measurements taken from the golf balls. Using initial speed and direction data as the ball leaves the club combined with measured spin data allows the “still air flight path” to be predicted. Differences between the TDOA measured path and the predicted path must be caused by external forces such as wind. This allows the actual wind speed and direction to be determined throughout the flight path.

Environmental

FIG. 4 is a side cutaway view of a golf ball in accordance with an embodiment of this invention. As can be seen, the dimensions of the different layers of the smart golf ball are carefully designed to meet USGA standards, while protecting the inner electronics of the ball. Included layers are skin 610, mantle 620, outer core 630, and electronics core 640. In a preferred embodiment, so as to protect the electronics from the compression of the outer core 630 when the golf ball is impacted by a golf club, the electronics core 640 is of a small enough diameter to stay outside the compressed region.

In the sports world, there are few pieces of equipment that are required to repeatedly perform and survive in an environment more physically demanding than a golf ball. Evolutionary design and advances to our understanding of elastomeric materials, aerodynamics of flying dimpled spheres and club technique have enabled current generation golf balls to demonstrate predictable performance and a long service life.

A progressively layered approach to protecting the inner electronics core 640 from shock may include a redundancy of layers and design techniques as shown, e.g., in FIG. 5. For maximum survival ability under extreme environmental conditions, the core must be miniaturized, weight reduced, dynamically balanced and potted in a tough, rigid material forming a “Ballistic Marble” 680. Progressive layers to enhance shock resistance may include Inner and Outer Compliant Layers 670 and 650, respectively. Between those two Compliant Layers may be an Armor Shell 660, as shown in FIG. 5, whereby the Shell material could be extremely stiff and RF transparent (necessary if it encloses the TDOA antenna). Additionally, Outer Core 630, and Compliant Layers material choices are critical to minimize the deadening of ball's rebound performance. Mantle 620 and Skin 610 materials are likely the same as found on conventional golf balls. The play performance and behavior of a smart golf ball will be similar to regulation play balls if weight distribution, spring constant and damping factor during compression/decompression are similar to conventional golf balls.

Internal Materials

FIG. 5 is a side cutaway view of a golf ball in accordance with an embodiment of this invention. As can be seen, the skin 610, mantle 620, and outer core 630 are similar to FIG. 4. The inner electronics core 640 of FIG. 4 is broken down into multiple portions outer compliant layer 650, armor shell 660, inner compliant layer 670 and ballistic marble 680.

The proposed smart golf ball design will meet the USGA specifications for regulation play and will generally rely on the same range of internal materials choices as traditional production golf balls with one important exception: the implantation of an inner electronics core. This payload will drive unique volumetric, energy management, RF transparency and core shock mitigation design tradeoffs to meet the required ball reliability and performance goals.

Various materials may be selected based on their performance. including a high-impact potting compound to create the Ballistic Marble 680. Also, an energy absorbing foam or gel material for Inner 670 and Outer 650 Compliant layers. Additionally, a high impact RF transparent shell material may be selected and utilized. Finally, Outer Core 630 and Mantle 620 may be a thermoplastic resin or proprietary synthetic rubber, and Skin 610 may be an ionomer or copolymer blend. In one embodiment, the following materials may be utilized as provided in the table below.

Description Ball Component High impact potting E-Core/Ballistic marble compound for protective encasement of electronic components Fine pitch open cell urethane Inner Compliant Layer, foam such as Poron Outer Compliant Layer Visco-elastic urethane Inner Compliant Layer, foam such as Sorbothane Outer Compliant Layer Urethane or Silicone gel Inner Compliant Layer, Outer Compliant Layer High impact RF transparent Armor Shell shell material such as Zirconium Dioxide, perforated metal, or plastic Ionomer of ethylene acid Mantle Layer, acrylate terpolymer/ Outer Core Layer thermoplastic resin Various proprietary elastomeric Mantle Layer, compounds such as soft synthetic rubber Outer Core Layer Blend of different materials Cover (Skin) tailored for spin control, cover toughness such as Surlyn or variants

Ball Weight

To maximize the utility and commercial viability of a smart golf ball, it must conform to as many of the prevailing rules of golf as possible. Most play in the US is generally governed by a consortium of the United States Golf Association and the Royal and Ancient (R&A) Golf Club who publish rules governing the size, shape and performance of golf equipment (clubs and balls). These particular rules are defined the USGA/R&A's “The Equipment Rules, Part 4-Conformance of Balls” as mass no more than 1.620 oz (45.93 grams), nor diameter less than 1.680 in (42.67 mm), and performs within specified velocity, distance, and symmetry limits.

Therefore, the smart golf ball should meet (1) USGA regulation golf ball weight specifications as equal to or less than 1.62 Oz or 45.93 Grams (1 oz=28.3495 g) and (2) USGA regulation ball size specification with a Diameter greater than or equal to 1.68 in or 42.672 mm. In a preferred embodiment, the smart golf ball will weigh approximately 44.9 grams. In other preferred embodiments, the smart golf ball will meet any USGA regulation for ball size and weight.

Electronics Packaging

FIG. 6 shows a schematic illustration of an electronics system of a golf ball in accordance with an embodiment of this invention. As can be seen, the smart golf ball may include a microcontroller 700, with memory 710 and a processor 720, in communication with a 6-axis gyroscope and accelerometer 730, a wake up interface 740, a power supply 750, an RF transmitter (Tx)/RF receiver (Rx) 760 with a real time location system (RTLS) connected to a crystal oscillator 770, and a balun 780 connected to antenna 790.

The largest component in the core is the UWB antenna. This antenna, mounted on the central printed circuit board, drives the size of the diameter of the core. Antenna size is a function of the radio frequency used. Selecting the highest available UWB frequency band simplifies the packaging of an efficient antenna into the core. Further electronics component volume reduction is certainly achievable if the production design consolidates the discrete components into fewer integrated hybrid chips or systems on a chip (SOC), etc.

Placing the electronics in a spherical inner core at the center of the ball with elastomeric materials surrounding it inside the outer skin of the ball will enable survival of the electronics and meet the USGA requirement for inertial symmetry of the ball. The ball elastomeric and skin materials would not significantly impact the RF performance of the antenna in the inner core.

Radio Subsystem

The system will likely use the unlicensed ISM band and in such a case must restrict the equivalent isotropic radiated power (EIRP) to −41.3 dBm/MHz to meet FCC Regulations. The ball likely operates at the highest available ISM frequency of 6.5 GHz. Higher frequencies minimize the size of the ball antenna, which is the driver of the inner core diameter. Although lower frequencies would improve the UWB Link Margin the ball antenna size overrides this advantage.

In a preferred embodiment, the ball uses the UWB Radio in Transmit. In this manner, the ball receiving Link Margin does not benefit from Beacon Antenna Gain; RTLS uses TDOA that doesn't require any Beacon to Ball messages; and Transmit collisions are avoided by Transmit Slot Allocation at Wake-Up and not by message exchange with the Beacon. As well, in a preferred embodiment the Radio selected for the Smart Golf Ball will comply with the IEEE 802.15.4 standard.

Use of the ISM (Industrial, Scientific and Medical) frequency band comes with the advantage of being unlicensed but has limitations on the power that may be transmitted. With the conflicting demands of low-profile wide separation Beacons in the Golf Course Application, and high multi-ball tracking in the Driving Range Application different radio configurations, embodiments for each are within the scope of the present invention.

In an exemplary embodiment of the invention, the electronics within the electronics core will include: (1) An accurate built-in Real Time Location Service based on Time Difference of Arrival (TDOA) with appropriate pulse repetition frequency impulse radio and Ultra-Wideband (UWB) communications (and preferably 64 MHz pulse repetition frequency impulse radio and 500 MHz UWB communications); (2) Modes that support system needs for both TDOA and Data Transfer at multiple data rates that allow trade-offs between message length and receiver sensitivity; and (3) Operation across the whole of the ISM Band including at 6.5 GHz near the top of the available unlicensed frequency band that enables minimum antenna size in the ball.

Two different radio configurations could be used for the Driving Range and Golf Course Applications to optimize the ball to beacon range and the number of balls that can simultaneously transmit to a Beacon. For the Driving Range a modified mode is configured resulting in a range from ball to beacon of 110 yards and a maximum of 30 balls being simultaneously able to transmit to a Beacon using a Time Division Multiple Access (TDMA) approach. For the Golf Course Application, the radio may be configured to provide a range from ball to beacon of 110 yards and a maximum of 3 balls being simultaneously able to transmit to a Beacon using a request/authorize handshake approach to multiple ball access. The maximum number of balls that can simultaneously transmit can be increased by reducing the message rate and hence increasing the separation between the TDOA measured ball locations. At a typical amateur launch speed of 90 mph the spacing is less than 7 feet reducing throughout the flight and roll until the ball comes to rest.

Power/Battery/Recharging

FIG. 7A is a side cutaway view of an electronics system of a golf ball in accordance with an embodiment of this invention and FIG. 7B is a side cutaway view of an electronics system of a golf ball in accordance with an embodiment of this invention. FIG. 7A shows balance/growth section 810, the microcontroller PCB 820, the UWB RF PCB 830, the power module 840 and balance/growth section 810. The power module 840 is power by a lifetime battery. FIG. 7B shows balance/growth section 910, the microcontroller PCB 920, the UWB RF PCB 930, the power module 940 and balance/growth section 910. The power module 940 is powered by a rechargeable battery pack.

As indicated herein, in one embodiment the smart golf ball utilizes a lifetime battery as its power source. In another preferred embodiment, the smart golf ball utilizes a rechargeable battery as its power source. The rechargeable approach offers a smaller energy capacity in the same volume and also introduces the added complexity of recharging circuitry and recharging operations while in use. A lifetime battery offers a larger capacity in the same volume, but since its energy is finite, it becomes the limiting element of the ball's service life.

A battery of sufficient capacity to meet the 12 month and 500 hit lifetimes will fit inside the inner core. In order to provide sufficient battery life, in a preferred embodiment the smart golf ball supports deep sleep, standby, and active modes.

In a preferred embodiment, the required battery capacity includes an allowance to accommodate any power loss in the passive and peripheral components supporting the primary elements of the electronics design such as the UWB RF Chip and Microcontroller. A margin is also added to the calculated power consumption to accommodate possible increases caused by differences in the power used by the ultimate design components from the reference design components used in the analysis.

The power subsystem consists of the battery, a DC-DC converter to support multiple voltage levels for chips that require it, decoupling capacitors and other passive components, and for the rechargeable solution, a charger circuit. In a preferred embodiment, the total power needed for a Lifetime Battery is 125 mAh. Based on the Golf Course Application the Rechargeable Battery Life should be enough for a complete round. In a preferred embodiment, the capacity should be at least 31 mAh for the golf course application.

Comparison of the Lifetime and Rechargeable Batteries are described below: Rechargeable batteries typically have lower power density for the same volume. The need for charging circuit increases the packaging challenge. In contrast, lifetime batteries require no maintenance. With either battery type, by providing battery status at the Wake-Up stage, golf balls can either be withdrawn from service if they are close to end of life (Lifetime), or diverted to a charge station if battery change is low (Rechargeable). The advantage of a Rechargeable is that, since it can be renewed, ball life can continue until one of the active components fails, potentially many times longer than the Lifetime Battery approach. Lithium Coin Batteries are readily available from many manufacturers in standard sizes, vs. Rechargeable Batteries, which often come in proprietary designs, especially at the smaller size and higher capacity end of the market.

In an exemplary embodiment of the lifetime battery embodiment, an appropriately sized coin battery is included in the Ball Reference Design.

Internal Sensors

The enhanced golfing experience and effective differentiation in the marketplace achieved by the smart golf ball depend on a unique suite of In-Ball sensors supported by wirelessly connected infrastructure. The optimum trade off choices will minimize the weight, complexity, cost, power consumption and computational power in the ball itself.

Direct feedback of ball rotational behavior (spin rate, spin axis) for deriving or estimating spin effects on Loft, Draw, Fade, Apex Height is most useful to golfers for evaluating/understanding their longer/flatter drives where maximum spin rates reach ˜3000 RPM. This kind of direct feedback is much less useful to golfers in situations like short irons and, “Chip” shots where the maximum “Chip” spin rates may reach ˜10,000 RPM. In-Ball spin sensing is more preferable approach compared to external spin measurement (such as fixed, external doppler radar) since the ball generated data message can be readily correlated with the unique ball ID tag in a dense multi-ball environment. To minimize weight and volume of inner electronics core, in a preferred embodiment, In-Ball sensors provide unprocessed data stream which is wirelessly offloaded to the RTLS service where processing analytics are performed. Due to equipment orientation transients, temporary RF line of sight interference during ball carry/roll, brief TDOA x/y/z position data drops are expected. In a preferred embodiment, the system will estimate by interpolation or otherwise the missing data to improve continuity/stability of calculated trajectory and other parameters.

The following table includes a list of possible ball inflight tracking and motion parameters which would add to the golfing experience, and provide more faithful or previously unavailable ball performance data:

Measurement/ Output Parameter Source Units Average Ball Speed TDOA Velocity Vertical Launch Angle TDOA, Linear/ Degrees Orthogonal Calc Horizontal TDOA, Linear/ Degrees Launch Angle Orthogonal Calc Vertical TDOA, Linear/ Degrees Descent Angle Orthogonal Calc Carry Distance TDOA Yards Roll Distance TDOA Yards Total Distance Calculation (Start Yards position to final position) Apex Height TDOA Altitude Above Tee Elevation (Yards) Carry End Position Accelerometer data + Dist (Yards), TDOA Offset (Yards) vs /Track Line Final Ball Location TDOA Dist (Yards), Offset (Yards) vs /Track Line Distance to Pin TDOA, Geo/Course Course Provided Data Base Data (Yards) Carry Flight Path TDOA/3-Axis Accel 3D Position Plot Total Draw/Fade TDOA/Calculation Degrees + or − Spin Axis 3-Axis Gyroscope Relative to Flight Direction Spin derived Draw/Fade 3-Axis Gyro/TDOA Degrees Wind derived 3-Axis Gyro/TDOA Degrees in Draw/Fade horizontal plane Wind Speed 3-Axis Gyro/TDOA Wind Direction (degrees)/Miles Per Hour

TDOA is shown as a measurement, addition of an In-Ball coplanar/strapdown 3-Axis accelerometer device has the potential to provide custom x, y, z position and velocity data for short intervals during TDOA data drops. In a preferred embodiment, all calculations, data fusion and advance analytics are performed Off-Ball by the RTLS Service. Output data fusion of the 3-Axis linear accelerometer with the 3-Axis gyro can provide data smoothing during Off-Ball calculations in both directions by mitigating effects of noise, sensor digital resolution discontinuities, etc.

Spin Rate Sensor: This is measurement using a “Strapdown” solid state 3-axis gyroscope device. Custom Position/Velocity Data Source and Data Smoothing: In addition to providing a custom position/velocity data source and spin rate data smoothing, the 3-Axis linear accelerometer may offer other features such as ball at rest/ball in motion indications, ball active signal on club impact, or deep sleep trigger when position unchanged on all three axes for X seconds.

In an exemplary embodiment, the In-Ball sensor suite may be represented by a 6-axis gyro/accelerometer. In a preferred embodiment, the accelerometer will be designed for sports or high impact applications. Preferably the accelerometer will comprise three orthogonal linear accelerometers capable of measuring a wide acceleration range. Preferably the gyroscope will comprise sensors capable of measuring three axis spin rates up to 60,000 degrees/second.

Antenna Design

An advantage of the present disclosure is packaging the ball electronics into a survivable core and on successful RF communications between the balls and beacons. Both elements depend substantially on the antenna design—small enough to survive and with the required efficiency and omni-directional radiation pattern.

In an exemplary embodiment of the invention, the system will use the unlicensed ISM band and therefore must restrict the equivalent isotropic radiated power (EIRP) to −41.3 dBm/MHz to meet FCC Regulations. Further, the ball operates at the highest available ISM frequency of 6.5 GHz; Higher frequencies minimize the size of the ball antenna, which is the driver of the inner core diameter. Although lower frequencies would improve the UWB Link Margin, the ball antenna size overrides this advantage.

In an exemplary embodiment, a surface mount chip antenna may be utilized for its combination of small size and omni-directional antenna pattern. The antenna and RF feed/matching components with the associated keep-out and ground plane areas preferably fits inside the electronic core package.

Beacon Density

FIG. 8A is a schematic illustration of a beacon of a driving range in accordance with an embodiment of this invention and FIG. 8B is a schematic illustration of a beacon of a golf course in accordance with an embodiment of this invention. The typical height of the beacon is approximately 10-20 feet as the beacon must have a clear view of most of the ground within approximately 110 yards and be high enough to avoid any shallow grazing angles. In the driving range application, central beacons must be mounted higher in order to accommodate golf balls travelling down the center of the driving range. In a preferred embodiment, the central beacons are mounted approximately 100 feet above the driving range.

FIG. 9A is a schematic illustration of a beacon layout of a driving range in accordance with an embodiment of this invention and FIG. 9B is a schematic illustration of a beacon layout of a golf course in accordance with an embodiment of this invention. As can be seen, 110 yards separate each of the beacons. For the driving range application, the total width of the driving range is approximately 190 yards as shown in this example. For the golf-course application, the beacons should have 360 degrees view so the same receiver can support balls on adjacent holes in order to minimize the use of the beacons in this example.

The TDOA techniques for tacking a projectile requires that multiple receivers, configured as beacons, are available to receive time information tagged with a unique identification. For the system to be financially viable the number of beacons needs to be contained yet provide the coverage for the entire tracking area. Normally, golf balls can be hit beyond 300 yards and can deviate from the down range center line by up to 100 yards.

In order to determine an optimal beacon layout, using off ball calculations, the time information received at 3 beacons can locate the ball accurately in 3D (X, Y, Z) space. With only 3 beacons within range two possible positions are derived from the TDOA measurements, whereas four beacons are needed for a unique solution. Successful tracking can be achieved in the three beacon case by using prior information to select the correct solution. Monitoring the previous track of the ball the real position can be chosen by eliminating the shadow position. Transmission dropouts are intermittent and short term so that off ball dead reckoning, or 6 axis sensor data can be used until viable transmissions resume.

Using the beacon layout in FIGS. 9A and 9B, the figures show approximately 15 beacons can be used for a typical driving range and approximately 11 for a typical golf hole. However, these beacon layouts may be changed based on different size driving ranges and golf courses. The beacon reference design includes a pole positioned at a precise surveyed position with at a typical height of between 10-20 feet. As mentioned above, beacons located along the central portion of a driving range will need to be higher. The number of receivers vary based upon coverage needs. With narrow beam high gain antennas needed at the beacons to successfully communicate with the ball, 18 receivers are required for Omni Directional coverage—center (6 looking horizontally, 6 looking up and 6 looking down), 9 for 180-degree coverage—side, (3 looking horizontally, 3 looking up and 3 looking down) and 4 for corner receivers.

Instrumenting a driving range for tracking many balls versus a golf course where a smaller number of balls are tracked requires different designs and beacon costs. Applications with smaller area coverage needs will be cheaper and will complete very well with existing competing solutions. Typical golf gaming ranges can be instrumented in a cost-effective manner giving the players access to a wide range of new data that can improve the skills. 15 Foot beacons will not interfere with driving range usage, but will have to be non-intrusive on a golf course.

Multi-Ball Tracking

Simultaneous multi-ball tracking is critical the Driving Range Application. This requires that the communications between multiple balls and the Beacon Receivers are managed such that none of the ranging and data transfer communications are lost due to message collisions. Feasibility of the Golf Ball Tracking System requires identification and analysis of a multiple access management schema that can be implemented in the system and achieve successful simultaneous communication with a large enough number of balls. The communication collision issue is not applicable to the Golf Course Application as a request/authorize approach is planned for ball to beacon communications so collisions will not occur.

The 60-degree×60-degree horn antennas on the beacons receive no signals from balls outside of the main beam. The Golf Ball Tracking System can receive simultaneous communications from 30 balls at a single Beacon Receiver. The Golf Ball Tracking System is feasible from the multi-ball tracking point of view in that it can track up to 180 balls/minute with a low risk of communication failures. TDMA is the recommended approach to enable the multiple access communications needed for multi-ball tracking. FDMA is not practical when using UWB communications in the unlicensed ISM frequency band as there are only a few distinct channels available. The CDMA spread spectrum approach to multiple access is not viable with the high bandwidth, high rate pulse method used by the UWB TDOA implementation. Typically, a ball will not remain in Active Mode using a timeslot for more than 20 seconds. Communications from a ball to a nearby beacon will rarely experience interference from another ball more than 100 yards down range. TDMA timeslots currently in use by balls in the back half of the Driving Range may be reallocated to balls being issued at the Tee Box with low risk of causing communication interference.

Ball Tracking History and Crowdsharing

A system in accordance with the present disclosure may also take advantage of historical ball tracking as well as crowdsharing information. For example, a system in accordance with the present disclosure may store a user's ball shot history and information both on the driving range and on the golf course. This information may include all of the information about the ball flight, travel, etc., as well as information about the specific club used by the player and environmental characteristics. Thus, the system may present the user with analysis showing the player her performance tied to each club as well as various weather conditions. For instance, the system may show the user that she regularly hits her 7 iron accurately, while she struggles with her 5 iron. Similarly, the system may present the user with analysis showing that she performs well with her wedges when there are strong wind conditions in one way or another.

The system may also provide analysis to a user while the user is on a golf course, based on the user's historical performance on the driving range. For example, if the user approaches her approach shot on a golf course hole, the system may recommend to the user what club to use based on the user's historical performance from the distance she finds herself from the hole. This analysis may factor in any environmental conditions. For example, if there is a strong tail wind, the system may analyze the player's historical performance in such conditions and make an appropriate recommendation to the user.

The system may also use crowdsharing information to analyze other characteristics of play in both in the driving range and golf course applications. For example, in the golf course application, the system may detect that numerous balls have begun shifting towards the right or left. The system may determine that these shifts are caused by environmental impacts, for instance a cross breeze. The system may use this information to show players or others the weather conditions approaching the driving range or golf shot to be had. Similarly, on the golf course application, the system may analyze the travel of the ball to determine wind or other environmental conditions on the golf course. Using the information from all players on the golf course, the system may show players on the golf course the respective environmental conditions on the course to each of the players in near real time.

Application Alternatives

This disclosure includes a ballistic marble with UWB communication and limited compute power that can easily be attached or embedded in other objects. This hardened sensor system can provide feedback/data to anything that is thrown, launched or moved within its beacon range. Thus, numerous alternative applications are possible and are within the scope of this disclosure.

For example, any kind of racing (human, vehicle, drone, etc) within a defined area may utilize the teachings herein. Similarly, any type of dynamic environmental testing, such as drop testing, may use these teachings. These teachings may also be utilized in connection with motion capture for numerous applications, including kinesiology, theatrical animation/creating CGI actors; virtual participants/avatars for online activities; or augmented reality. These teachings may also be used for tracking applications within a defined area, for instance tracking anything that is thrown, launched, moved (for instance, an employee), or lost (e.g. a pet, child, older person). These teachings may also be utilized for drone uses, including security, inspection, visual inventory control, and otherwise. Inventory management (e.g. car dealers, warehouse management) may also benefit from these teachings. Surveying and topographical analysis may also use the present disclosure. The present teaching may also be used in connection with interactive gaming. This list is merely exemplary, and a number of additional applications are described below.

American Baseball

A ball is pitched to a batter aimed towards at strike zone with the intent of getting a batter to swing and miss the ball, getting the batter to hit the ball out of bounds, getting the ball in the strike zone or getting the hitter to hit a fly ball or in a direction towards a fielder. Pitching is a critical element to the game of baseball. Like golf televised events show the track of the baseball can be shown and the spin can be seen. However, the actual spin of the ball is not measured and there is not a low-cost solution for pitcher training at all levels of the sport. Pitchers need to understand whether changes of their action are improving the ball spin that affects the flight of the ball. Replaying each pitch in 3D, from multiple angles and various speeds can be of benefit in improving performance. The baseball is a solid ball and lends itself well to embedding a smart tracking package at the center of the ball without adversely affecting the balls performance. Using beacons situated near the pitching area the exact track can be calculated and the spin throughout the flight can be gathered. Using 3D visualization techniques, the track can be viewed from multiple angles with spin overlaid on the image. Each pitch per pitcher would be cloud stored to provide a history of pitching. This could be of great benefit to pitcher attempting to improve the pitching via changes to their pitching action. With an estimated TDOA maximum received range of 330 feet, there should be adequate tracking coverage anywhere in the ball play area including foul zones with beacons mounted at the field edges.

American Football

The ball is thrown, with a spinning action for accuracy and length, with the intent of the receiver catching it. The spin of the football induced by the quarterback (QB) is a key to passing performance. Use of Embedded smart tracking package for American Football—Placing a smart tracking package in the tip of a football, with a counterbalance at the opposite end, the rotation of the ball can be calculated throughout the flight and the exact 3D flight can be tracked from leaving the hand of the QB to hitting the ground or being caught. The football field is well suited for Instrumenting with beacons as no beacon will need to be in the field of play.

Cricket

Like baseball spin imparted on a cricket ball by a bowler is a critical aspect of bowler performance, this is especially true for so called spin bowlers. The cricket ball is a solid ball and is well suited to embedding smart tracking package in the center of the ball without affecting the ball's performance. Beacon distribution is also well suited to determining ball position and flight during regular play on a cricket field as the rules of the game constrain the maximum distance from the center of the pitch to the sidelines to be no more than 90 yards whereas the Ball to Beacon communication range can be up to 110 yards. The track of the ball can be calculated and the spin throughout the flight can be overlaid throughout the flight. The ball can survive a bat to ball hit. The bowler can then work on improving their delivery action and review the results. All deliveries can then be replayed from multiple viewing angles, at a later time, on a display device.

Ice Hockey

Team Players interchange a puck by passing to each other, shooting the puck at a goal or to send the ball away from the opponent players. It is difficult for spectators to track the puck as it moves around the ice either on TV or live. The solid ice hockey puck is well suited to embedding a smart tracking package at its center without affecting the puck's performance. Beacons can be distributed around the ice rink without the need to be on the rink. The position of the puck can be tracked throughout the game. For TV viewers the real time position can be highlighted. By using of Augmented Reality Glasses, the audience can have the position of the puck overlaid onto the viewing image based upon seat position (using a seat tag that communicates with the backend that calculates the puck position).

Bowling

The path of the bowling ball down the lane is driven by the amount of spin imparted on the bowling ball by the bowler. Bowlers can improve the bowling performance by improving their delivery action that imparts spin on the ball that allows the path of the ball to use the full width of the lane with the spin moving the ball towards the headpin, the angle of hit on the headpin improving the chance of knocking down all of the pins for a strike. The solid bowling ball is well suited to embed the smart tracking package at its center and the balling alley can be instrumented with beacons without interfering with play. The instrumented bowling ball's position and spin can be calculated as it moves down the lane. This track of each bowl can be stored for each user for later playback with spin rates overlaid. Improvements against previous efforts can be monitored operating as a bowler training aid.

Warehouse Operations—Robotic Pick and Place

Large warehouses often employ robotic devices for inventory transport and placement. The inventory items are received, stored, retrieved and delivered by a variety of robotic trucks, totes and forklifts where the aisles and shelves are laid out in a regular 3D coordinate system. In addition to seeking and finding precise inventory coordinates, the free ranging robotic systems must ID and appropriately react to fixed and moving obstacles such as new floor arrangements, machine and human traffic. The smart tracking package TDOA capability could provide the necessary 3D navigation accuracy (10 cm/˜4 In) with ceiling-mounted beacons and low-cost electronic modules aboard each robot. The RTLS service would keep real time 3D picture of all mobile units, issue the nav commands, ID conflicting paths, issue safety instructions, etc. Some warehouse configurations, especially those with very high steel shelving, intervening steel walls, doors, etc. would require careful selection of beacon quantities and locations to avoid interference from signal blockage or multi-path reflections. In these more challenging environments, such measures as beacon repeaters, reflectors, mast mounted receivers on autonomous mobile equipment may be required. Implementation decision would require additional trade studies against competing solutions such as LIDAR, GPS.

Forensics—Crime/Accident Scene Investigation and Reconstruction

Crime/accident scenes can be concentrated in a small area or over many thousands of square meters. A common challenge for investigators is to quickly establish the position in the crime scene of objects that may become evidence quickly before the scene is compromised by weather, foot traffic, perishability, water intrusion, etc. Using a system of mobile smart tracking packages TDOA beacons placed at the perimeter of the scene and hand held wands containing a smart tracking package transponder, Go-Pro camera and data logging capability in the hands of investigators, the scene and all objects of interest could be rapidly mapped, imaged and tagged with useful metadata. This could be augmented with smart tracking packages equipped overhead photo drones in some situations to document larger spatial relationships. Images and other data could be immediately transmitted to the on-scene mobile command center or agency headquarters.

The present invention may be embodied within a system, a method, a computer program product or any combination thereof. The computer program product may include a computer readable storage medium or media having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention. The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.

Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein includes an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which includes one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

Finally, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “includes” and/or “including,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Having thus described the invention of the present application in detail and by reference to embodiments thereof, it will be apparent that modifications and variations are possible without departing from the scope of the invention defined in the appended claims as follows: 

We claim:
 1. A smart golf ball comprising: an inner electronics core, the inner electronics core comprising: a microcontroller with memory and at least one processor; a power supply in communication with the microcontroller; and an RF transmitter/receiver in communication with the microcontroller; an outer core surrounding the inner electronics core; and, a skin layer covering the outer core.
 2. The smart golf ball of claim 1, wherein the RF transmitter/receiver is configured for Ultra-wideband (UWB) in the 3.1 to 10.6 GHz range
 3. The smart golf ball of claim 2, wherein the RF transmitter/receiver is a Real Time Location System (RTLS) UWB Antenna.
 4. The smart golf ball of claim 1, wherein the power supply is a lifetime battery.
 5. The smart golf ball of claim 1, wherein the power supply is a rechargeable battery.
 6. The smart golf ball of claim 5, wherein the rechargeable battery is configured to be recharged through magnetic induction.
 7. The smart golf ball of claim 5, wherein the rechargeable battery is configured to be recharged through mechanical agitation.
 8. The smart golf ball of claim 1, wherein the inner electronics core further comprises a 6-axis gyroscope and accelerometer in communication with the microcontroller.
 9. The smart golf ball of claim 1, wherein the inner electronics core further comprises a wake up interface in communication with the microcontroller.
 10. The smart golf ball of claim 1, wherein the inner electronics core further comprises a layer of protective encasement surrounding the microcontroller, power supply, and RF transmitter/receiver.
 11. The smart golf ball of claim 10, wherein the inner electronics core further comprises an inner compliant layer surrounding the layer of protective encasement, wherein material of the inner compliant layer is an elastomer.
 12. The smart golf ball of claim 11, further comprising an armor shell layer surrounding the inner compliant layer.
 13. The smart golf ball of claim 12, wherein material of the armor shell is RF transparent material.
 14. The smart golf ball of claim 12, wherein the inner electronics core further comprises an outer compliant layer surrounding the armor shell layer, wherein material of the outer compliant layer is an elastomer.
 15. The smart golf ball of claim 1, wherein material of the outer core layer is an elastomer.
 16. The smart golf ball of claim 1, wherein material of the skin layer is a polymer resin.
 17. A smart golf ball comprising: an inner electronics core, the inner electronics core comprising: a microcontroller with memory and at least one processor; a power supply in communication with the microcontroller, wherein the power supply is a lifetime battery; an RF transmitter/receiver in communication with the microcontroller, wherein the RF transmitter is a RTLS UWB Antenna configured for the 3.1 to 10.6 GHz range; a 6-axis gyroscope in communication with the microcontroller; an accelerometer in communication with the microcontroller; and a wake up interface in communication with the microcontroller; and, wherein the inner electronics core further comprises a layer of protective encasement surrounding the microcontroller, power supply, RF transmitter/receiver, 6-axis gyroscope, accelerometer and wake up interface; an outer core surrounding the inner electronics core; and, a skin layer covering the outer core.
 18. A data processing system configured for golf ball tracking, the golf ball tracking system comprising: a host computing system comprising memory and at least one processor; fixed storage coupled to the host computing system; a display in communication with the host computing system; one or more smart golf balls, each comprising a Real Time Location System (RTLS) Ultra-wideband (UWB) transmitter/receiver and a corresponding ID, in communication with the host computing system; three or more beacons, each comprising an RF transmitter/receiver, in communication with the host computing system; and a golf ball tracking module in communication with the host computing system wherein the golf ball tracking module comprising computer program instructions executing in the memory of the host computing system that upon execution are adapted to perform: receiving pings of the corresponding ID of a one of the smart golf balls by at least three of the three or more beacons, each ping received by each beacon at different times; determining the 3D position of the one of the smart golf balls using a Time Difference of Arrival (TDOA) algorithm based on each of the different times each ping is received by each of the beacons and a position of each of the beacons; and, displaying the 3D position of the one of the smart golf balls on the display.
 19. The golf ball tracking system of claim 18, wherein the golf ball tracking module further comprises computer program instructions executing in the memory of the host computing system that upon execution are adapted to perform: receiving pings of the corresponding ID of a different one of the smart golf balls by at least three of the three or more beacons, each ping received by each beacon at different times; determining the 3D position of the one of the smart golf balls and the different one of the smart golf balls using a Time Division Multiple Access (TDMA) algorithm and the Time Difference of Arrival (TDOA) algorithm; and, displaying the 3D position of the one of the smart golf balls and the different one of the smart golf balls.
 20. The golf ball tracking system of claim 18, wherein the one or more smart golf balls each further comprise a 3 axis gyroscope and an accelerometer and wherein the golf ball tracking module further comprises computer program instructions executing in the memory of the host computing system that upon execution are adapted to perform: receiving measurements from the 3 axis gyroscope and accelerometer of the one of the smart golf balls by at least one of the beacons; determining spin data of the one of the smart golf balls based on the received measurements from the 3 axis gyroscope and accelerometer of the one of the smart golf balls; and, displaying the spin data of the one of the smart golf balls on the display. 